################################################################################
#
# AUV2
#
# PURPOSE: Wave Glider radio testing.
# AUTHOR:  drthom
# DATE:    13 June 2013:
# NOTE:    Sequential behavoirs are bottom-up.  Priorities are top-down.
# MODS:
#
################################################################################
#
behavior missionTimer
{
  timeOut = 1500;
}
#
# Depth Envelope
#
behavior depthEnvelope
{
  minDepth = 0; #Meters
  maxDepth = 5; #Meters
  minAltitude = 5; #Meters
  abortDepth = 10; #Meters
}

behavior getgps
{
minHits = 10;
duration = 60;
}

behavior ascend {

  duration = 120; #Seconds
  horizontalMode = rudder; #Mode
  horizontal = -10; #Degrees; 
  pitch = 15; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 0; #Meters
}

behavior waypoint
{
latitude = 36.7666;
longitude = -121.8610;
duration = 900;
depth = 0;
speed = 1.5;
}



behavior getgps
{
minHits = 10;
duration = 60;
}